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esc_calibration: use predefined literals

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-23 16:42:30 +02:00
committed by Lorenz Meier
parent 8b629454de
commit beb8c3e152
1 changed files with 6 additions and 4 deletions
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src/modules/commander/esc_calibration.cpp
+6 -4
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@@ -61,13 +61,15 @@
#include <drivers/drv_hrt.h>
#include <systemlib/mavlink_log.h>
using namespace time_literals;
int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* armed)
{
int return_code = PX4_OK;
#if defined(__PX4_POSIX_OCPOC)
hrt_abstime timeout_start = 0;
hrt_abstime timeout_wait = 60*1000*1000;
hrt_abstime timeout_wait = 60_s;
armed->in_esc_calibration_mode = true;
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "begin esc");
timeout_start = hrt_absolute_time();
@@ -97,8 +99,8 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
bool batt_updated = false;
bool batt_connected = true; // for safety resons assume battery is connected, will be cleared below if not the case
hrt_abstime battery_connect_wait_timeout = 30*1000*1000;
hrt_abstime pwm_high_timeout = 3*1000*1000;
hrt_abstime battery_connect_wait_timeout = 3_s;
hrt_abstime pwm_high_timeout = 3_s;
hrt_abstime timeout_start = 0;
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc");
@@ -181,7 +183,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
}
}
}
usleep(50*1000);
usleep(50_ms);
}
Out: